.TH "Zebulon::Surface::GlobalInfo" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
.ad l
.nh
.SH NAME
Zebulon::Surface::GlobalInfo \- 
.PP
Interface class for getting information from \fBGlobalPoseSensor\fP.  

.SH SYNOPSIS
.br
.PP
.PP
\fC#include <globalinfo.h>\fP
.SS "Public Member Functions"

.in +1c
.ti -1c
.RI "\fBGlobalInfo\fP ()"
.br
.RI "\fIConstructor, initializes default values. \fP"
.ti -1c
.RI "\fB~GlobalInfo\fP ()"
.br
.RI "\fIDestructor. \fP"
.ti -1c
.RI "virtual int \fBProcessDiscoveryEvent\fP (const Jaus::Platform &subsystem, const Jaus::SubscriberComponent::DiscoveryEvents eventType)"
.br
.RI "\fIInitializes event and gets information from GlobalPose like \fBGPS\fP and Compass data. \fP"
.ti -1c
.RI "int \fBProcessInformMessage\fP (const Jaus::Message *msg)"
.br
.ti -1c
.RI "int \fBCreateEventSubscriptions\fP ()"
.br
.RI "\fIInitializes event and gets information from other sensors on the vehicle. \fP"
.ti -1c
.RI "void \fBSetPosition\fP (double easting, double northing, int good=1)"
.br
.RI "\fISets \fBGPS\fP position. \fP"
.ti -1c
.RI "int \fBGetPosition\fP (double &easting, double &northing) const "
.br
.RI "\fIGets position from \fBGPS\fP. \fP"
.ti -1c
.RI "void \fBSetAngles\fP (double roll, double pitch, double yaw, int good=1)"
.br
.RI "\fISets position compass angles. \fP"
.ti -1c
.RI "int \fBGetAngles\fP (double &roll, double &pitch, double &yaw) const "
.br
.RI "\fIGets angles from compass. \fP"
.ti -1c
.RI "int \fBGetHeading\fP (double &yaw) const "
.br
.RI "\fIGets heading from compass data. \fP"
.ti -1c
.RI "void \fBSetGatePosition\fP (double easting, double northing, double heading, int good=1)"
.br
.RI "\fISets position of gate with \fBGPS\fP and Compass data. \fP"
.ti -1c
.RI "int \fBGetGatePosition\fP (double &easting, double &northing, double &heading) const "
.br
.RI "\fICalculates gate position with \fBGPS\fP and compass data. \fP"
.ti -1c
.RI "void \fBSetDockHeading\fP (double heading, int good=1)"
.br
.RI "\fISets dock heading. \fP"
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.RI "int \fBGetDockHeading\fP (double &heading) const "
.br
.RI "\fIGets docking heading. \fP"
.ti -1c
.RI "void \fBSetDockPosition\fP (double easting, double northing, int good=1)"
.br
.RI "\fISets dock heading. \fP"
.ti -1c
.RI "int \fBGetDockPosition\fP (double &easting, double &northing) const "
.br
.RI "\fIGets docking heading. \fP"
.ti -1c
.RI "void \fBSetStartPosition\fP (double easting, double northing, double heading, int good=1)"
.br
.RI "\fISets starting position with \fBGPS\fP data. \fP"
.ti -1c
.RI "int \fBGetStartPosition\fP (double &easting, double &northing, double &heading) const "
.br
.RI "\fIGets starting position. \fP"
.ti -1c
.RI "void \fBSetPiratePosition\fP (double easting, double northing, int good=1)"
.br
.RI "\fISets starting position with \fBGPS\fP data. \fP"
.ti -1c
.RI "int \fBGetPiratePosition\fP (double &easting, double &northing) const "
.br
.RI "\fIGets starting position. \fP"
.ti -1c
.RI "void \fBSetBatteryVoltage\fP (double voltage, int good=1)"
.br
.RI "\fISets battery voltage. \fP"
.ti -1c
.RI "int \fBGetBatteryVoltage\fP (double &voltage) const "
.br
.RI "\fIGets battery voltage. \fP"
.ti -1c
.RI "void \fBSetTemperatureSensor\fP (double temperature, int good=1)"
.br
.RI "\fISets temperature sensor. \fP"
.ti -1c
.RI "int \fBGetTemperatureSensor\fP (double &temperature) const "
.br
.RI "\fIGets temperature sensor value. \fP"
.ti -1c
.RI "void \fBSetRescuePosition\fP (double easting, double northing, int good=1)"
.br
.RI "\fISets position of the rescue buoy with \fBGPS\fP data. \fP"
.ti -1c
.RI "int \fBGetRescuePosition\fP (double &easting, double &northing) const "
.br
.RI "\fIGets rescue buoy position. \fP"
.ti -1c
.RI "void \fBSetForwardFrame\fP (const Jaus::Image *\fBFrame\fP, int good=1)"
.br
.RI "\fISets the most recent frame from the Forward Camera. \fP"
.ti -1c
.RI "void \fBSetForwardFrame\fP (const \fBCvImageCapture::Image\fP &\fBFrame\fP, int good=1)"
.br
.RI "\fISets the most recent frame from the Forward Camera. \fP"
.ti -1c
.RI "void \fBSetForwardFrame\fP (IplImage *\fBFrame\fP, int good=1)"
.br
.ti -1c
.RI "int \fBGetForwardFrame\fP (IplImage *&\fBFrame\fP) const "
.br
.RI "\fIGets a frame from the Forward Camera. \fP"
.ti -1c
.RI "void \fBSetPanTiltFrame\fP (const Jaus::Image *\fBFrame\fP, int good=1)"
.br
.RI "\fISets the most recent frame from the Pan Tilt Camera. \fP"
.ti -1c
.RI "void \fBSetPanTiltFrame\fP (const \fBCvImageCapture::Image\fP &\fBFrame\fP, int good=1)"
.br
.RI "\fISets the most recent frame from the PanTilt Camera. \fP"
.ti -1c
.RI "void \fBSetPanTiltFrame\fP (IplImage *\fBFrame\fP, int good=1)"
.br
.ti -1c
.RI "int \fBGetPanTiltFrame\fP (IplImage *&\fBFrame\fP) const "
.br
.RI "\fIGets a frame from the Pan Tilt Camera. \fP"
.ti -1c
.RI "void \fBSetStartButton\fP (int start, int good=1)"
.br
.RI "\fISets start button to on or off. \fP"
.ti -1c
.RI "int \fBGetStartButton\fP (int &start) const "
.br
.RI "\fIGets start button information. \fP"
.ti -1c
.RI "void \fBSetBuoySwitch\fP (int buoy, int good=1)"
.br
.RI "\fISets buoy switch to on or off. \fP"
.ti -1c
.RI "int \fBGetBuoySwitch\fP (int &buoy) const "
.br
.RI "\fIGets buoy switch information. \fP"
.ti -1c
.RI "void \fBSetAutonomous\fP (int autonomous, int good=1)"
.br
.RI "\fISets start button to on or off. \fP"
.ti -1c
.RI "int \fBGetAutonomous\fP (int &autonomous) const "
.br
.RI "\fIGets autonomous information. \fP"
.ti -1c
.RI "void \fBSetEstop\fP (int estop, int good=1)"
.br
.RI "\fISets start button to on or off. \fP"
.ti -1c
.RI "int \fBGetEstop\fP (int &estop) const "
.br
.RI "\fIGets start button information. \fP"
.ti -1c
.RI "void \fBSetVelocity\fP (double axial, double lateral, int good=1)"
.br
.ti -1c
.RI "int \fBGetAxialVelocity\fP (double &axial) const "
.br
.ti -1c
.RI "int \fBGetLateralVelocity\fP (double &lateral) const "
.br
.in -1c
.SS "Static Public Member Functions"

.in +1c
.ti -1c
.RI "static double \fBAngleDiff\fP (double angleSrc, double angleDest)"
.br
.RI "\fICalculates angle difference with compass data. \fP"
.ti -1c
.RI "static double \fBCalcHeading\fP (double eastingSrc, double northingSrc, double eastingDest, double northingDest)"
.br
.RI "\fICalculates heading from \fBGPS\fP data. \fP"
.ti -1c
.RI "static double \fBCalcDistance\fP (double eastingSrc, double northingSrc, double eastingDest, double northingDest)"
.br
.RI "\fICalculates the distance between \fBGPS\fP points. \fP"
.ti -1c
.RI "static void \fBGPStoUTM\fP (double latitude, double longitude, double &easting, double &northing)"
.br
.ti -1c
.RI "static double \fBCurrTime\fP ()"
.br
.in -1c
.SS "Static Public Attributes"

.in +1c
.ti -1c
.RI "static int \fBmForwardCamCount\fP = 0"
.br
.ti -1c
.RI "static int \fBmPanTiltCamCount\fP = 0"
.br
.in -1c
.SH "Detailed Description"
.PP 
Interface class for getting information from \fBGlobalPoseSensor\fP. 
.SH "Member Function Documentation"
.PP 
.SS "double GlobalInfo::AngleDiff (double angleSrc, double angleDest)\fC [static]\fP"
.PP
Calculates angle difference with compass data. \fBParameters:\fP
.RS 4
\fIangleSrc\fP source angle. 
.br
\fIangleDest\fP destination angle.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns difference. 
.RE
.PP

.SS "double GlobalInfo::CalcDistance (double eastingSrc, double northingSrc, double eastingDest, double northingDest)\fC [static]\fP"
.PP
Calculates the distance between \fBGPS\fP points. \fBParameters:\fP
.RS 4
\fIeastingSrc\fP source easting. 
.br
\fInorthingSrc\fP source easting. 
.br
\fIeastingDest\fP destination easting. 
.br
\fInorthingDest\fP destination easting.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns distance. 
.RE
.PP

.SS "double GlobalInfo::CalcHeading (double EastingSrc, double NorthingSrc, double EastingDest, double NorthingDest)\fC [static]\fP"
.PP
Calculates heading from \fBGPS\fP data. \fBParameters:\fP
.RS 4
\fIeastingSrc\fP source easting. 
.br
\fInorthingSrc\fP source easting. 
.br
\fIeastingDest\fP destination easting. 
.br
\fInorthingDest\fP destination easting.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns heading. 
.RE
.PP

.SS "int GlobalInfo::CreateEventSubscriptions ()"
.PP
Initializes event and gets information from other sensors on the vehicle. \fBReturns:\fP
.RS 4
True on success, False on failure. 
.RE
.PP

.SS "int GlobalInfo::GetAngles (double & roll, double & pitch, double & yaw) const"
.PP
Gets angles from compass. \fBParameters:\fP
.RS 4
\fIroll\fP from compass. 
.br
\fIpitch\fP from compass. 
.br
\fIyaw\fP from compass.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetAutonomous (int & autonomous) const"
.PP
Gets autonomous information. \fBParameters:\fP
.RS 4
\fIautonomous\fP from SetAutonomous.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns if good. 
.RE
.PP

.SS "int GlobalInfo::GetBatteryVoltage (double & voltage) const"
.PP
Gets battery voltage. \fBParameters:\fP
.RS 4
\fIvoltage\fP gets value.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetBuoySwitch (int & buoy) const"
.PP
Gets buoy switch information. \fBParameters:\fP
.RS 4
\fIbuoy\fP from SetStartButton.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetDockHeading (double & heading) const"
.PP
Gets docking heading. \fBParameters:\fP
.RS 4
\fIheading\fP from setDockHeading.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetDockPosition (double & easting, double & northing) const"
.PP
Gets docking heading. \fBParameters:\fP
.RS 4
\fIheading\fP from setDockHeading.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetEstop (int & estop) const"
.PP
Gets start button information. \fBParameters:\fP
.RS 4
\fIstart\fP from SetStartButton.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetForwardFrame (IplImage *& Frame) const"
.PP
Gets a frame from the Forward Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetGatePosition (double & easting, double & northing, double & heading) const"
.PP
Calculates gate position with \fBGPS\fP and compass data. \fBParameters:\fP
.RS 4
\fIeasting\fP from SetGatePosition. 
.br
\fInorthing\fP easting from SetGatePosition. 
.br
\fIheading\fP easting from SetGatePosition.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetHeading (double & yaw) const"
.PP
Gets heading from compass data. \fBParameters:\fP
.RS 4
\fIyaw\fP from GetAngle.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetPanTiltFrame (IplImage *& Frame) const"
.PP
Gets a frame from the Pan Tilt Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetPiratePosition (double & easting, double & northing) const"
.PP
Gets starting position. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetPosition (double & easting, double & northing) const"
.PP
Gets position from \fBGPS\fP. \fBParameters:\fP
.RS 4
\fIeasting\fP from \fBGPS\fP. 
.br
\fInorthing\fP from \fBGPS\fP.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetRescuePosition (double & easting, double & northing) const"
.PP
Gets rescue buoy position. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetStartButton (int & start) const"
.PP
Gets start button information. \fBParameters:\fP
.RS 4
\fIstart\fP from SetStartButton.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetStartPosition (double & easting, double & northing, double & heading) const"
.PP
Gets starting position. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::GetTemperatureSensor (double & temperature) const"
.PP
Gets temperature sensor value. \fBParameters:\fP
.RS 4
\fItemperature\fP gets value.
.RE
.PP
\fBReturns:\fP
.RS 4
Returns good. 
.RE
.PP

.SS "int GlobalInfo::ProcessDiscoveryEvent (const Jaus::Platform & subsystem, const Jaus::SubscriberComponent::DiscoveryEvents eventType)\fC [virtual]\fP"
.PP
Initializes event and gets information from GlobalPose like \fBGPS\fP and Compass data. \fBParameters:\fP
.RS 4
\fIsubsystem\fP 
.br
\fIeventType\fP 
.RE
.PP
\fBReturns:\fP
.RS 4
True on success, False on failure. 
.RE
.PP

.SS "void GlobalInfo::SetAngles (double roll, double pitch, double yaw, int good = \fC1\fP)"
.PP
Sets position compass angles. \fBParameters:\fP
.RS 4
\fIroll\fP sets value. 
.br
\fIpitch\fP sets value. 
.br
\fIyaw\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetAutonomous (int autonomous, int good = \fC1\fP)"
.PP
Sets start button to on or off. \fBParameters:\fP
.RS 4
\fIstart\fP sets flag. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetBatteryVoltage (double voltage, int good = \fC1\fP)"
.PP
Sets battery voltage. \fBParameters:\fP
.RS 4
\fIvoltage\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetBuoySwitch (int buoy, int good = \fC1\fP)"
.PP
Sets buoy switch to on or off. \fBParameters:\fP
.RS 4
\fIbuoy\fP sets flag. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetDockHeading (double heading, int good = \fC1\fP)"
.PP
Sets dock heading. \fBParameters:\fP
.RS 4
\fIheading\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetDockPosition (double easting, double northing, int good = \fC1\fP)"
.PP
Sets dock heading. \fBParameters:\fP
.RS 4
\fIheading\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetEstop (int estop, int good = \fC1\fP)"
.PP
Sets start button to on or off. \fBParameters:\fP
.RS 4
\fIstart\fP sets flag. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetForwardFrame (const \fBCvImageCapture::Image\fP & Frame, int good = \fC1\fP)"
.PP
Sets the most recent frame from the Forward Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP. 
.RE
.PP

.SS "void GlobalInfo::SetForwardFrame (const Jaus::Image * Frame, int good = \fC1\fP)"
.PP
Sets the most recent frame from the Forward Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP. 
.RE
.PP

.SS "void GlobalInfo::SetGatePosition (double easting, double northing, double heading, int good = \fC1\fP)"
.PP
Sets position of gate with \fBGPS\fP and Compass data. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value. 
.br
\fIheading\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetPanTiltFrame (const \fBCvImageCapture::Image\fP & Frame, int good = \fC1\fP)"
.PP
Sets the most recent frame from the PanTilt Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP. 
.RE
.PP

.SS "void GlobalInfo::SetPanTiltFrame (const Jaus::Image * Frame, int good = \fC1\fP)"
.PP
Sets the most recent frame from the Pan Tilt Camera. \fBParameters:\fP
.RS 4
\fIImage\fP \fBFrame\fP. 
.RE
.PP

.SS "void GlobalInfo::SetPiratePosition (double easting, double northing, int good = \fC1\fP)"
.PP
Sets starting position with \fBGPS\fP data. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetPosition (double easting, double northing, int good = \fC1\fP)"
.PP
Sets \fBGPS\fP position. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetRescuePosition (double easting, double northing, int good = \fC1\fP)"
.PP
Sets position of the rescue buoy with \fBGPS\fP data. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetStartButton (int start, int good = \fC1\fP)"
.PP
Sets start button to on or off. \fBParameters:\fP
.RS 4
\fIstart\fP sets flag. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetStartPosition (double easting, double northing, double heading, int good = \fC1\fP)"
.PP
Sets starting position with \fBGPS\fP data. \fBParameters:\fP
.RS 4
\fIeasting\fP sets value. 
.br
\fInorthing\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP

.SS "void GlobalInfo::SetTemperatureSensor (double temperature, int good = \fC1\fP)"
.PP
Sets temperature sensor. \fBParameters:\fP
.RS 4
\fIvoltage\fP sets value. 
.br
\fIgood\fP checks if valid data. 
.RE
.PP


.SH "Author"
.PP 
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